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Hi there.

I had this error message for a slightly different reason. For any others getting this error, it may just be because you haven't built pcl_ros, which creates the library libpcl_ros_tf.so (if building from source). If this is the case, the following will fix it:

rosmake -s pcl_ros

[ The -s switch is just to stop it from trying to build the prerequisite packages ]

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